中文摘要：

对人形机器人构型的研究现状进行综述，分析国内、外现有人形机器人普遍采用的串联构型的特点：介绍人体的结构，对关节、肢体构成与运动进行简化，建立人体的简化构型：利用基本运动单元，以人体构型为原型．从结构、运动、功能仿生的角度出发，在多自由度关节处引入并联机构，采用等效机构替代关节及组合方法，构建人形机器人构型，得到肢体并联、混联（串、并联共存）构型与整体混联构型。试验证明，采用该类构型可使机器人肢体末端的运动更灵活、平滑连续：改善输出状态，提高机器人的机动与操作能力；使机器人刚度大、承载力大、运动稳定性高。丰富了人形机器人构型，为人形机器人设计提供理论依据和更多的构型选择。

英文摘要：

The current status and development of the mechanismarchitecture of humanoid robots are summarized and the characteristics of the serial architectures used universally in current humanoid robots at home and abroad are analyzed; The structures of human body is simply introduced and joints, the constitution of limbs and its movement are investigated and simplified. The simplified architecture of human body is set up. Using basic movement units, human architecture as the prototype, based on the viewpoints of bionics-starting from structure, movement and function, the mechanism architectures of humanoid robot are constructed by means of equivalent mechanisms of joints and combination between them under introducing parallel mechanism at the joints with multiple DOFs. Some parallel, compound （series-parallel） mechanism architectures for humanoid robot limbs and global compound mechanism architectures are gotten. The advantages of this class architectures are： The movement of the off-end of limbs are more flexible, smooth andconsecutive; Output status of mechanism and the ability of maneuver and operation of humanoid robot is improved; The load capacity, stiffness, motion stability of humanoid robot are enhanced. The works done here enrich the mechanism architectures of humanoid robots. This is significant foundation in theory and a new choice for the design of humanoid robots.